一种考虑二阶径向畸变的主动视觉自标定算法.docVIP

第8卷(A版)　第3期 2003年3月中国图象图形学报Jou rnalofImageandGraphicsVol.8(A),No.3Mar.2003 一种考虑二阶径向畸变的主动视觉自标定算法 袁　野　欧宗瑛 1)1),2)2)(大连理工大学自动化系,大连　116024)　　2)(大连理工大学机械系CADCG,大连　116024) 摘　要　摄像机拍摄的像片存在着各种类型的几何畸变,其中以径向畸变最为严重,.为了使标定结果更精确,,并通过推导考虑二阶径向畸变的极线几何约束,得出了如果能控制摄像机做,则可以标定摄像机的内参数和二阶径向畸变系数的结论.,,且具有一定的鲁棒性,可用于摄像机的标定. 关键词　?)中图法分类号:TPTP242.62　　文献标识码:A　　文章编号:100628961(2003)0320347205 ACameraSelf-calibrationAlgorithmBasedonActiveVision TakingAccountofCameraTwo-degreeRadialDistortion YUANYe 1) 2)1),2),OUZong2ying2)(AutomationDepartment,DalianUniversityofTechnology,Dalian116024)(CADCGlab,MechanicalEngineeringDepartment,DalianUniversityofTechnology,Dalian116024) Abstract　Cameraself2calibrationtechniquesbasedonactivevisionmakethecalibrationsimplified,soitisamainbranchofcameracalibrationfield.Manykindsofdistortionswereexistedinordinarycamera,amongthesedistor2tionstheradialdistortionismoreserious,sothestudyontheself2calibrationtechniquetakingaccountofradialdistortionisveryimportant.Acameraself2calibrationalgorithmbasedonactivevisiontakingaccountoftwo2de2greeradialdistortionisproposedinthispaperinordertomakethecalibrationresultmoreaccurate.Theepipolargeometryconstrainttakingaccountoftwo2degreeradialdistortionisdeveloped.Thentheconclusionwasdrawnthattheepipoleoftheimagewhichistakenafterthetranslationmotionisdoneisstillequaltotheepipoleoftheinitialpositionimagewhenthetwo2degreeradialdistortionistakenaccount.Thecalibrationtakingaccountoftwo2 .TheLevenberg2degreeradialdistortionbecomeaproblemtosolvecomplexnonlinearequationsMarquardtalgo2 .Thentheintrinsicparametersandtwo2degreeradialdistortioncoef2rithmisusedtosolvethenonlinearequations ficientscanbecalibratedbycontrollingthecameratoundergofourtranslationsormorewhichshouldnotbeco2planar.Experimentsresultsshowthattheaccuracyofthealgorithmishighandtherobustnessofthealgorithmisstrong.Sothisalgorithmisfeasible. Keywords　Cameraself2calibration,Activevision,Two2degreeradialdistortion,Epipolargeometryconstraint,Intrinsicparameters 0　引　言 摄像机标定被认为是实现三维欧氏空间